RU2705480C1 - Способ управления и устройство управления транспортного средства с функцией автоматического вождения - Google Patents

Способ управления и устройство управления транспортного средства с функцией автоматического вождения Download PDF

Info

Publication number
RU2705480C1
RU2705480C1 RU2019104754A RU2019104754A RU2705480C1 RU 2705480 C1 RU2705480 C1 RU 2705480C1 RU 2019104754 A RU2019104754 A RU 2019104754A RU 2019104754 A RU2019104754 A RU 2019104754A RU 2705480 C1 RU2705480 C1 RU 2705480C1
Authority
RU
Russia
Prior art keywords
vehicle
automatic driving
driving
driving characteristics
manual
Prior art date
Application number
RU2019104754A
Other languages
English (en)
Russian (ru)
Inventor
Хвасеон ДЗАНГ
Такаси СУНДА
Матико ХИРАМАЦУ
Original Assignee
Ниссан Мотор Ко., Лтд.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ниссан Мотор Ко., Лтд. filed Critical Ниссан Мотор Ко., Лтд.
Application granted granted Critical
Publication of RU2705480C1 publication Critical patent/RU2705480C1/ru

Links

Images

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B60W10/184Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14Adaptive cruise control
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14Adaptive cruise control
    • B60W30/143Speed control
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14Adaptive cruise control
    • B60W30/16Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14Adaptive cruise control
    • B60W30/16Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/17Control of distance between vehicles, e.g. keeping a distance to preceding vehicle with provision for special action when the preceding vehicle comes to a halt, e.g. stop and go
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18Propelling the vehicle
    • B60W30/18009Propelling the vehicle related to particular drive situations
    • B60W30/181Preparing for stopping
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18Propelling the vehicle
    • B60W30/18009Propelling the vehicle related to particular drive situations
    • B60W30/18109Braking
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18Propelling the vehicle
    • B60W30/18009Propelling the vehicle related to particular drive situations
    • B60W30/18145Cornering
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18Propelling the vehicle
    • B60W30/182Selecting between different operative modes, e.g. comfort and performance modes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06Road conditions
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105Speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08Interaction between the driver and the control system
    • B60W50/082Selecting or switching between different modes of propelling
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001Planning or execution of driving tasks
    • B60W60/0013Planning or execution of driving tasks specially adapted for occupant comfort
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005Handover processes
    • B60W60/0051Handover processes from occupants to vehicle
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2310/00Arrangements, adaptations or methods for cruise controls
    • B60K2310/24Speed setting methods
    • B60K2310/242Speed setting methods setting initial target speed, e.g. initial algorithms
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2310/00Arrangements, adaptations or methods for cruise controls
    • B60K2310/24Speed setting methods
    • B60K2310/244Speed setting methods changing target speed or setting a new target speed, e.g. changing algorithms
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2310/00Arrangements, adaptations or methods for cruise controls
    • B60K2310/26Distance setting methods, e.g. determining target distance to target vehicle
    • B60K2310/262Distance setting methods, e.g. determining target distance to target vehicle setting initial distance to preceding vehicle, e.g. initial algorithms
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2310/00Arrangements, adaptations or methods for cruise controls
    • B60K2310/26Distance setting methods, e.g. determining target distance to target vehicle
    • B60K2310/264Distance setting methods, e.g. determining target distance to target vehicle changing distance, e.g. reducing the distance for overtaking
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B60W2040/0872Driver physiology
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062Adapting control system settings
    • B60W2050/0075Automatic parameter input, automatic initialising or calibrating means
    • B60W2050/0083Setting, resetting, calibration
    • B60W2050/0088Adaptive recalibration
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403Image sensing, e.g. optical camera
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408Radar; Laser, e.g. lidar
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00Input parameters relating to overall vehicle dynamics
    • B60W2520/10Longitudinal speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00Input parameters relating to overall vehicle dynamics
    • B60W2520/10Longitudinal speed
    • B60W2520/105Longitudinal acceleration
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00Input parameters relating to occupants
    • B60W2540/18Steering angle
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00Input parameters relating to infrastructure
    • B60W2552/05Type of road, e.g. motorways, local streets, paved or unpaved roads
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00Input parameters relating to infrastructure
    • B60W2552/53Road markings, e.g. lane marker or crosswalk
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00Input parameters relating to objects
    • B60W2554/40Dynamic objects, e.g. animals, windblown objects
    • B60W2554/402Type
    • B60W2554/4026Cycles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00Input parameters relating to objects
    • B60W2554/40Dynamic objects, e.g. animals, windblown objects
    • B60W2554/402Type
    • B60W2554/4029Pedestrians
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00Input parameters relating to objects
    • B60W2554/80Spatial relation or speed relative to objects
    • B60W2554/801Lateral distance
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00Input parameters relating to objects
    • B60W2554/80Spatial relation or speed relative to objects
    • B60W2554/802Longitudinal distance
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2555/00Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60Traffic rules, e.g. speed limits or right of way
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00Input parameters relating to data
    • B60W2556/45External transmission of data to or from the vehicle
    • B60W2556/50External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10Longitudinal speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10Longitudinal speed
    • B60W2720/106Longitudinal acceleration
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2754/00Output or target parameters relating to objects
    • B60W2754/10Spatial relation or speed relative to objects
    • B60W2754/30Longitudinal distance
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2754/00Output or target parameters relating to objects
    • B60W2754/10Spatial relation or speed relative to objects
    • B60W2754/50Relative longitudinal speed

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Artificial Intelligence (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)
  • Evolutionary Computation (AREA)
  • Health & Medical Sciences (AREA)
  • Business, Economics & Management (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
RU2019104754A 2016-08-08 2016-08-08 Способ управления и устройство управления транспортного средства с функцией автоматического вождения RU2705480C1 (ru)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2016/073327 WO2018029758A1 (ja) 2016-08-08 2016-08-08 自動運転車両の制御方法及び制御装置

Publications (1)

Publication Number Publication Date
RU2705480C1 true RU2705480C1 (ru) 2019-11-07

Family

ID=61162820

Family Applications (1)

Application Number Title Priority Date Filing Date
RU2019104754A RU2705480C1 (ru) 2016-08-08 2016-08-08 Способ управления и устройство управления транспортного средства с функцией автоматического вождения

Country Status (10)

Country Link
US (1) US10606264B2 (ja)
EP (1) EP3498556B1 (ja)
JP (1) JP6677304B2 (ja)
KR (1) KR102026058B1 (ja)
CN (1) CN109562758B (ja)
BR (1) BR112019002546B1 (ja)
CA (1) CA3033164C (ja)
MX (1) MX2019001525A (ja)
RU (1) RU2705480C1 (ja)
WO (1) WO2018029758A1 (ja)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2781021C1 (ru) * 2019-12-02 2022-10-04 Ниссан Мотор Ко., Лтд. Способ управления транспортным средством и устройство управления транспортным средством

Families Citing this family (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA3068410A1 (en) * 2017-06-26 2019-01-03 Nissan Motor Co., Ltd. Vehicle traveling assistance method and vehicle traveling assistance device
CN111108031B (zh) * 2017-08-30 2023-09-22 本田技研工业株式会社 行驶控制装置、车辆以及行驶控制方法
JP6988381B2 (ja) * 2017-11-06 2022-01-05 トヨタ自動車株式会社 車両制御装置
JP6628819B2 (ja) * 2018-01-15 2020-01-15 本田技研工業株式会社 車両走行制御装置
JP6874731B2 (ja) * 2018-04-11 2021-05-19 トヨタ自動車株式会社 車両制御装置
JP7127343B2 (ja) * 2018-04-13 2022-08-30 株式会社デンソー 運転モード切替装置、運転モードの切替方法、コンピュータプログラム
DE102018206425A1 (de) * 2018-04-25 2019-10-31 Bayerische Motoren Werke Aktiengesellschaft Aktivierung einer Fahrfunktion zum automatisierten Fahren mit Längs- und Querführung über eine andere Fahrfunktion zum automatisierten Fahren mit geringem Automatisierungsgrad
US10635104B2 (en) * 2018-08-21 2020-04-28 International Business Machines Corporation Intelligent transitioning between autonomous and manual driving modes of a vehicle
JP2022031987A (ja) * 2018-10-26 2022-02-24 日立Astemo株式会社 車両駆動制御装置、車両の駆動制御方法及びプログラム
US11325611B2 (en) 2018-12-26 2022-05-10 Baidu Usa Llc Torque feedback based vehicle longitudinal automatic calibration system for autonomous driving vehicles
US11126178B2 (en) 2019-01-18 2021-09-21 Zoox, Inc. Vehicle control
DE102019101662A1 (de) * 2019-01-23 2020-07-23 Bayerische Motoren Werke Aktiengesellschaft Verfahren und Steuereinheit zum Betrieb eines adaptiven Geschwindigkeitsreglers
KR102180800B1 (ko) * 2019-04-03 2020-11-19 경북대학교 산학협력단 차량의 주행상태 판단장치 및 그 판단방법
JP7143822B2 (ja) * 2019-06-28 2022-09-29 トヨタ自動車株式会社 車両制御装置
US10696306B1 (en) 2019-09-25 2020-06-30 Lyft Inc. Evaluating driving control systems for elegant driving
JP7255699B2 (ja) * 2019-10-09 2023-04-11 株式会社Soken 車両用運転切り替え装置、車両運転システム、車両用運転切り替え方法
DE102020100868A1 (de) * 2020-01-15 2021-07-15 Bayerische Motoren Werke Aktiengesellschaft Verfahren und Steuereinheit zum Betrieb einer Fahrfunktion
US11827503B2 (en) 2020-03-18 2023-11-28 Crown Equipment Corporation Adaptive acceleration for materials handling vehicle
CN111861128B (zh) * 2020-06-20 2024-03-22 清华大学 自动驾驶车辆人机协同操纵过程的接管舒适性评价方法、系统及存储介质
US11608067B2 (en) * 2020-08-12 2023-03-21 Honda Motor Co., Ltd. Probabilistic-based lane-change decision making and motion planning system and method thereof
CN112339754A (zh) * 2020-10-23 2021-02-09 上汽通用五菱汽车股份有限公司 车速调整方法、车辆及可读存储介质
MX2023005183A (es) * 2020-11-03 2023-05-15 Crown Equip Corp Aceleracion adaptativa para vehiculo de manejo de materiales.
JP7184949B2 (ja) * 2021-03-26 2022-12-06 本田技研工業株式会社 自動運転車両の操舵装置及びこれを備えた自動運転車両
FR3126385B1 (fr) * 2021-08-25 2023-10-06 Psa Automobiles Sa Procédé et système pour personnaliser le fonctionnement d’un appareillage d’aide à la conduite d’un véhicule automobile
WO2023059221A1 (ru) 2021-10-04 2023-04-13 Общество с ограниченной ответственностью "ЭвоКарго" Способ управления характеристиками движения транспортного средства
FR3132070B1 (fr) * 2022-01-21 2023-12-15 Psa Automobiles Sa Procédé et dispositif de contrôle d’accélération d’un véhicule embarquant un système de régulation de vitesse
CN116674578B (zh) * 2023-08-03 2023-10-20 南京德沃克自动化有限公司 基于车辆显控系统的控制方法及系统

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012051441A (ja) * 2010-08-31 2012-03-15 Toyota Motor Corp 自動運転車両制御装置
RU2477527C1 (ru) * 2012-03-27 2013-03-10 Павел Ильич Субботин Способ и система управления транспортными потоками и устройство мониторинга дорожной ситуации
US9150220B2 (en) * 2013-12-04 2015-10-06 Mobileye Vision Technologies Ltd. Systems and methods for mimicking a leading vehicle

Family Cites Families (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2918617B2 (ja) * 1990-03-30 1999-07-12 マツダ株式会社 自律走行車両の制御装置
JPH0443132A (ja) 1990-06-08 1992-02-13 Jidosha Denki Kogyo Co Ltd 自動定速走行装置
JP3244015B2 (ja) * 1997-02-26 2002-01-07 三菱自動車工業株式会社 車両用自動変速機の変速制御装置
JPH10309961A (ja) 1997-05-12 1998-11-24 Toyota Motor Corp 自動走行車両制御装置
AU2006304838B2 (en) 2005-10-21 2011-07-28 Deere & Company Systems and methods for obstacle avoidance
JP5187032B2 (ja) * 2008-07-02 2013-04-24 アイシン・エィ・ダブリュ株式会社 運転支援装置、運転支援方法および運転支援プログラム
JP4973687B2 (ja) * 2009-05-13 2012-07-11 トヨタ自動車株式会社 走行支援装置
US8825258B2 (en) * 2012-11-30 2014-09-02 Google Inc. Engaging and disengaging for autonomous driving
JP6016680B2 (ja) * 2013-03-18 2016-10-26 ヤンマー株式会社 走行車両
DE102013210941A1 (de) 2013-06-12 2014-12-18 Robert Bosch Gmbh Verfahren und Vorrichtung zum Betreiben eines Fahrzeugs
CN105579321B (zh) 2013-07-23 2018-05-11 日产自动车株式会社 车辆用驾驶辅助装置及车辆用驾驶辅助方法
JP6205947B2 (ja) * 2013-07-26 2017-10-04 日産自動車株式会社 自動運転制御装置
JP6390095B2 (ja) 2013-12-18 2018-09-19 株式会社ジェイテクト 車両制御装置
JP6150258B2 (ja) * 2014-01-15 2017-06-21 みこらった株式会社 自動運転車
JP6375754B2 (ja) 2014-07-25 2018-08-22 アイシン・エィ・ダブリュ株式会社 自動運転支援システム、自動運転支援方法及びコンピュータプログラム
EP3256815A1 (en) 2014-12-05 2017-12-20 Apple Inc. Autonomous navigation system
EP3240714B1 (en) * 2014-12-29 2023-08-30 Robert Bosch GmbH Systems and methods for operating autonomous vehicles using personalized driving profiles
US11281211B2 (en) * 2015-09-30 2022-03-22 Sony Corporation Driving control apparatus, driving control method, and program

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012051441A (ja) * 2010-08-31 2012-03-15 Toyota Motor Corp 自動運転車両制御装置
RU2477527C1 (ru) * 2012-03-27 2013-03-10 Павел Ильич Субботин Способ и система управления транспортными потоками и устройство мониторинга дорожной ситуации
US9150220B2 (en) * 2013-12-04 2015-10-06 Mobileye Vision Technologies Ltd. Systems and methods for mimicking a leading vehicle

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2781021C1 (ru) * 2019-12-02 2022-10-04 Ниссан Мотор Ко., Лтд. Способ управления транспортным средством и устройство управления транспортным средством

Also Published As

Publication number Publication date
JP6677304B2 (ja) 2020-04-08
EP3498556A1 (en) 2019-06-19
CN109562758A (zh) 2019-04-02
KR20190022759A (ko) 2019-03-06
EP3498556B1 (en) 2020-10-07
BR112019002546B1 (pt) 2023-01-17
WO2018029758A1 (ja) 2018-02-15
MX2019001525A (es) 2019-07-04
JPWO2018029758A1 (ja) 2019-06-06
CN109562758B (zh) 2020-07-17
BR112019002546A2 (pt) 2019-05-21
US20190171204A1 (en) 2019-06-06
KR102026058B1 (ko) 2019-11-05
US10606264B2 (en) 2020-03-31
CA3033164A1 (en) 2018-02-15
CA3033164C (en) 2020-03-24
EP3498556A4 (en) 2019-09-11

Similar Documents

Publication Publication Date Title
RU2705480C1 (ru) Способ управления и устройство управления транспортного средства с функцией автоматического вождения
CN112416004B (zh) 一种基于自动驾驶的控制方法、装置、车辆以及相关设备
CA3025643C (en) Driving control method and driving control apparatus
JP2020187754A (ja) 課せられる責任の制約を伴うナビゲーションシステム
JP6901555B2 (ja) 自動運転車の制御のための車両制御装置及び方法
JP2022106879A (ja) 車両をナビゲートするためのシステム及び方法
US20190143992A1 (en) Self-driving learning apparatus and method using driving experience information
JP6428928B2 (ja) オクルージョン制御装置
JP6468261B2 (ja) 自動運転システム
JP2018025993A (ja) 自動運転システム
CN113954871A (zh) 对于自主车辆测试预测
JP2019053658A (ja) 車両制御装置
JP6792704B2 (ja) 自動運転車の制御のための車両制御装置及び方法
WO2021054051A1 (ja) 電子制御装置
JP6924629B2 (ja) 自動制御装置およびその制御方法
KR102166811B1 (ko) 심층강화학습과 운전자보조시스템을 이용한 자율주행차량의 제어 방법 및 장치
CN111373457A (zh) 车辆控制装置、车辆以及车辆控制方法
CN113119945B (zh) 一种基于环境模型的汽车高级辅助驾驶系统
CN114067569B (zh) V2x车联网环境下车辆左转辅助预警方法
CN113370972A (zh) 行驶控制装置、行驶控制方法以及存储程序的计算机可读取存储介质
CN117208019B (zh) 基于值分布强化学习的感知遮挡下纵向决策方法及系统
CN117751394A (zh) 用于支持自动行驶车辆的环境识别的方法和装置
CN116187067A (zh) 混合交通流下无信控行人过街横道的人车冲突分析方法